Initial Commit

2026-02-09 03:39:49 +00:00
commit a756be4bf7
71 changed files with 6705 additions and 0 deletions
--- a/config/ugv_params.yaml
+++ b/config/ugv_params.yaml
@@ -0,0 +1,110 @@
+# UGV Configuration - GPS-Denied Navigation
+/**:
+  ros__parameters:
+    
+    # Vehicle physical parameters
+    vehicle:
+      wheelbase: 0.3  # meters
+      track_width: 0.25  # meters
+      wheel_radius: 0.05  # meters
+      max_speed: 1.0  # m/s
+      max_turn_rate: 1.5  # rad/s
+    
+    # Vision parameters for navigation
+    vision:
+      # Forward camera (for visual odometry and obstacle detection)
+      forward_camera:
+        enabled: true
+        topic: "/ugv/camera/forward/image_raw"
+        info_topic: "/ugv/camera/forward/camera_info"
+        frame_rate: 30
+        fov_horizontal: 90  # degrees
+        fov_vertical: 60  # degrees
+        
+      # Visual odometry settings
+      visual_odometry:
+        enabled: true
+        method: "ORB"  # Options: ORB, SIFT
+        min_features: 150
+        max_features: 600
+        feature_quality: 0.02
+        min_distance: 8
+        
+      # Wheel odometry (primary odometry for ground vehicle)
+      wheel_odometry:
+        enabled: true
+        topic: "/ugv/odom"
+        covariance_scale: 0.05
+        
+      # Obstacle detection
+      obstacle_detection:
+        enabled: true
+        method: "depth_camera"  # or "stereo"
+        min_distance: 0.3  # meters
+        max_distance: 10.0  # meters
+        
+    # Position estimation (sensor fusion)
+    position_estimator:
+      fusion_method: "EKF"
+      
+      # Sensor weights (trust levels)
+      weights:
+        visual_odometry: 0.3
+        wheel_odometry: 0.5
+        imu: 0.2
+        
+      # Update rates
+      update_rate: 50  # Hz
+      
+      # Covariance matrices
+      process_noise:
+        position: 0.05
+        velocity: 0.2
+        heading: 0.1
+        
+      measurement_noise:
+        visual_odom: 0.08
+        wheel_odom: 0.03
+        imu: 0.15
+    
+    # Navigation parameters (RELATIVE coordinates only)
+    navigation:
+      frame: "LOCAL_NED"  # Never use GPS frame
+      
+      # Control parameters
+      max_linear_velocity: 1.0  # m/s
+      max_angular_velocity: 1.5  # rad/s
+      linear_acceleration: 0.5  # m/s^2
+      angular_acceleration: 1.0  # rad/s^2
+      
+      # Path following
+      lookahead_distance: 0.5  # meters
+      waypoint_radius: 0.3  # meters
+      
+      # Obstacle avoidance
+      obstacle_avoidance:
+        enabled: true
+        detection_range: 3.0  # meters
+        safety_margin: 0.5  # meters
+        avoidance_method: "VFH"  # Vector Field Histogram
+    
+    # Mission parameters
+    mission:
+      default_speed: 0.5  # m/s
+      turn_in_place_threshold: 0.5  # radians
+      
+      # Home position is LOCAL (0,0,0), not GPS
+      home_mode: "local"
+    
+    # Safety
+    safety:
+      geofence:
+        enabled: true
+        use_gps: true  # ONLY for geofence
+        action_on_breach: "STOP"
+        
+      failsafe:
+        vision_loss_timeout: 3.0  # seconds
+        action_on_vision_loss: "STOP"
+        collision_distance: 0.2  # meters
+        action_on_collision: "STOP"